void main(void)
{
/* Configure the oscillator for the device */
ConfigureOscillator();
/* Initialize I/O and Peripherals for application */
InitApp();
InitSPI();
InitInterrupts();
LCD_Init();
RF_ConfigReceiver();
LCD_WriteFirstLine("NRF Initialized");
// LCD_Write();
while(1)
{
if(RF_ReceiveFlag == 1){
RF_ResetReceiver();
if(RF_ReceiveBuffer[0] == 0x01){
ToggleLED_B7();
LCD_WriteFirstLine("Receive Action:");
LCD_WriteSecondLine("L-Button Pressed");
}
else if(RF_ReceiveBuffer[0] == 0x02){
ToggleLED_B7();
LCD_WriteFirstLine("Receive Action:");
LCD_WriteSecondLine("R-Button Pressed");
}
}
}
}
int main(void) {
//--------------
// Initialization
char LCDinit[] = {0x33,0x32,0x28,0x01,0x0c,0x06,0x00}; //Array holding initialization string for LCD
char Msg1[] = {0x84,'C','U','N','T','\0'};
char Msg2[] = {0xC5,'R','P','S','\0'};
char Msg3[10]; // Msg for displaying RPS to LCD (size 10 in case dealing with large numbers)
InitApp(); // Initialize Ports
DisplayLCD(LCDinit,1); // Initialize LCD
//--------------
// Message on LCD
DisplayLCD(Msg1,0); // Display message on LCD
DisplayLCD(Msg2,0); // Display message 2
//--------------
// Initialize encoder variables
CHA = PORTBbits.RB5; // Initialize channel A
CHB = PORTBbits.RB4; // Initialize channel B
OLD_ROT = 0; // Initialize state of rotation
CCWTurn = 0; // Initialize CCW count
CWTurn = 0; // Initialize CW count
RPS = 0.0; // Initialize RPS value
CHAcount = 0; // Channel A counter
//--------------
// Setup PWM cycle to motor
PR2 = 0x9B; // Open pwm1 at period = 1 ms
CCP1CONbits.DC1B1 = 0; // Set duty cycle of pwm1
CCP1CONbits.DC1B0 = 0; // ...
CCPR1L = 0b00000100; // ...
//-------------
// Set timer and interrupts
TMR0count = 0; // Set counter for TMR0
WriteTimer0(EncoderCount);// Load Timer0
InitInterrupts(); // Initialize timer interrupts for Port B encoder
//--------------
// Loop phase: Display RPS on LCD
while(1)
{
WaitHalfSec();
WriteLCD(0xC0,5,RPS,Msg3); // Display RPS on LCD
}
//--------------
// Exit main
CloseTimer0();
return (EXIT_SUCCESS);
}
void main ()
{
// Initializing PIC16LF1827
InitPorts();
InitTimers();
InitInterrupts();
while(1)
{
}
}
void main(void)
{
ServoTimerInit();
InitInterrupts();
InitTimer0();
while(1)
{
static unsigned char LastBitState = 0;
static unsigned char CurrentBitState = 0;
CurrentBitState = RC1;
if ((CurrentBitState == SET) && (CurrentBitState != LastBitState))
{
//PWM attack +
ShouldAttack = 1;
//start/restart Two second timer
TMR0 = MAX_TIMER_VAL; //2s complement of max value = 0xFF
Two_Seconds_Timer = CLEAR;
}
else if ((CurrentBitState == CLEAR) && (CurrentBitState != LastBitState))
{
ShouldAttack = 0; //PWM retract
}
if ((Two_Seconds_Timer >= TWO_SEC) && (ShouldAttack))
{
Two_Seconds_Timer = CLEAR;
ShouldAttack = 0; //PWM retract
}
if(T0IF == SET)
//if(TMR0>10)
{
T0IF = CLEAR;
Two_Seconds_Timer++;
}
LastBitState = CurrentBitState;
}
}
unsigned char update_priority(void) {
priority.idle = 0;
InitInterrupts();
return ACK;
}
//-------------------------------------------------------------------
//----------------------------Code-----------------------------------
//-------------------------------------------------------------------
void main(void)
{
// should only execute main loop once; after this just respond to interrupts
InitTimers();
InitPorts();
InitComm();
InitInterrupts();
SSPBUF = BytesOut[i];
while(1)
{
//-----------------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------
//-----EUART STUFF-------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------
if(CommActive)
{
if( X_Transition!=0 )
{
X_Transition = 0;
switch( CurrentX_State )
{
case X_Idle_State :
{
SEND = 1;
NextX_State = X_StartDelim_State;
NextByteOut = 0x7E;
// Starting Edit for Variable Message Size
MessageCounter = Encode_Message(CurrentType);
X_LengthLSB = MessageCounter + 5; //For framing bytes
// Populating the Message Frame
X_CMD = TXData[0];
X_RF1 = TXData[1];
X_RF2 = TXData[2];
X_RF3 = TXData[3];
X_RF4 = TXData[4];
X_RF5 = TXData[5];
}
break;
case X_StartDelim_State :
{
NextX_State = X_LengthMSB_State;
NextByteOut = X_LengthMSB ;
}
break;
case X_LengthMSB_State :
{
NextX_State = X_LengthLSB_State;
NextByteOut = X_LengthLSB;
}
break;
case X_LengthLSB_State :
{
NextX_State = X_API_State;
NextByteOut = X_API;
}
break;
case X_API_State :
{
NextX_State = X_FID_State;
NextByteOut = X_FID;
}
break;
case X_FID_State :
{
NextX_State = X_AddrMSB_State;
NextByteOut = X_AddrMSB;
}
break;
case X_AddrMSB_State :
{
NextX_State = X_AddrLSB_State;
NextByteOut = X_AddrLSB;
}
break;
case X_AddrLSB_State :
{
NextX_State = X_Options_State;
NextByteOut = X_Options;
}
break;
case X_Options_State :
{
NextX_State = X_CMD_State; // will later need logic here for what transition to do based on length LSB
NextByteOut = X_CMD;
}
break;
case X_CMD_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF1_State;
NextByteOut = X_RF1;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF1_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF2_State;
NextByteOut = X_RF2;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF2_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF3_State;
NextByteOut = X_RF3;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF3_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF4_State;
NextByteOut = X_RF4;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF4_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF5_State;
NextByteOut = X_RF5;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF5_State :
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
break;
case X_Checksum_State :
{
SEND = 0;
NextX_State = X_Idle_State;
NextByteOut = 0x7E;
}
break;
} // end switch case
}// end if X_Transition
if( R_Transition!=0 )
{
R_Transition = 0;
switch( CurrentR_State )
{
case R_Idle_State :
{
if (ByteIn == 0x7E) // should always be this!
{ NextR_State = R_LengthMSB_State; }
}
break;
case R_LengthMSB_State :
{
if ( ByteIn == 0x00 ) // should always be this!
{ NextR_State = R_LengthLSB_State; }
}
break;
case R_LengthLSB_State :
{
NextR_State = R_API_State;
R_LengthLSB = ByteIn;
}
break;
case R_API_State :
{
///Adding Code to Handle different types of received messages
R_API = ByteIn;
if (R_API == API_TXSTAT)
NextR_State = R_FID_State;
else if (R_API == API_RXPACK)
{
NextR_State = R_AddrMSB_State;
LostCommCounter = 0;
}
else
NextR_State = R_Idle_State;
}
break;
case R_AddrMSB_State :
{
NextR_State = R_AddrLSB_State;
R_AddrMSB = ByteIn;
}
break;
case R_AddrLSB_State :
{
NextR_State =R_SigStr_State;
R_AddrLSB = ByteIn;
}
break;
case R_SigStr_State :
{
NextR_State = R_Options_State;
R_SigStr = ByteIn;
}
break;
case R_Options_State :
{
NextR_State = R_CMD_State; // will later need logic here for what transition to do based on length LSB
R_Options = ByteIn;
}
break;
case R_CMD_State:
{
NextR_State = R_RF1_State;
R_CMD = ByteIn;
}
break;
case R_RF1_State :
{
NextR_State = R_Idle_State;
R_RF1 = ByteIn;
if (R_CMD == 0x05)
{ //PAIR_RESP Received
if(R_RF1&BIT0HI)
{
Paired = 1;
//Stop Broadcasting and send Direct Messages
X_AddrMSB = R_AddrMSB;
X_AddrLSB = R_AddrLSB;
CurrentType = CTRL;
Set_PAIRED;
PORTC = PORTC_Copy;
LostCommCounter = 0;
}
else
{
XBee_State(0);
}
}
if (R_CMD == 0x06)
{ //STATUS Received
Process_Status(R_RF1);
}
}
break;
case R_FID_State :
{
NextR_State = R_STATUS_State;
R_FID = ByteIn;
}
break;
case R_STATUS_State :
{
NextR_State = R_Idle_State;
R_STATUS = ByteIn;
//Code to Resend Message if no ACK
if (R_STATUS)
{
X_Transition = 1;
CurrentX_State = X_Idle_State;
NextX_State = CurrentX_State;
}
}
break;
} // end switch case
}// end if R_Transition
if (SEND && TXIF) // for some reason, with TXIE I get 0x7E transmitted twice.
{
X_Transition = 1;
TXREG = NextByteOut;
}
CurrentX_State = NextX_State;
CurrentR_State = NextR_State;
}
}
}; // end main
